著者

多田隈 建二郎 多田隈 理一郎 勅使河原 誠一 溝口 善智 長谷川 浩章 寺田 一貴 高山 俊男 小俣 透 明 愛国 下条 誠

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2009, pp."2A2-B02(1)"-"2A2-B02(2)", 2009-05-25

---

This paper describes the morphing omnidirectional gripper which is able to grasp various objects with low melting point alloy. The deformable part of the gripper changes its shape by covering all directionof objects and makes the contacting area higher. In order to keep the high grasping force, proposed gripper does not need any additional energy thanks to the solid state of the deformable part including low melting point alloy. The design of the actual prototype model with cooling mechanism is shown and built. In addition, the usage of functional fluids for the morphing part is proposed. The basic performance of the blended material of low melting point alloy and magnetic fluid has been observed.